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| 1 | Robust adaptive control for a nonholonomic mobile robot with unknown parameters显示文摘A robust adaptive controller for a nonholonomic mobile robot with unknown kinematic and dynamic parameters is proposed.A kinematic controller whose output is the input of the relevant dynamic controller is provided by using the concept of backstepping.An adaptive algorithm is developed in the kinematic controller to approximate the unknown kinematic parameters,and a simple single-layer neural network is used to express the highly nonlinear robot dynamics in terms of the known and unknown parameters.In order to attenuate the effects of the uncertainties and disturbances on tracking performance,a sliding mode control term is added to the dynamic controller.In the deterministic design of feedback controllers for the uncertain dynamic systems,upper bounds on the norm of the uncertainties are an important clue to guarantee the stability of the closed-loop system.However,sometimes these upper bounds may not be easily obtained because of the complexity of the structure of the uncertainties.Thereby,simple adaptation laws are proposed to approximate upper bounds on the norm of the uncertainties to address this problem.The stability of the proposed control system is shown through the Lyapunov method.Lastly,a design example for a mobile robot with two actuated wheels is provided and the feasibility of the controller is demonstrated by numerical simulations. | Jinbo WU Guohua XU Zhouping YIN | 2009 | 控制理论与应用(英文版)2009，7，2： | 9 |
| 2 | Carbon inputs regulate the temperature sensitivity of soil respiration in temperate forests显示文摘Litter and root activities may alter the temperature sensitivity(Q_(10))of soil respiration.However,existing studies have not provided a comprehensive understanding of the effects of litter and root carbon inputs on the Q_(10)of soil respiration in different seasons.In this study,we used the trench method under in situ conditions to measure the total soil respiration(R_(total)),litter-removed soil respiration(R_(no-litter)),root-removed soil respiration(R_(no-root)),and the decomposition of soil organic matter(i.e.,both litter and root removal;R_(SOM))in different seasons of pioneer(Populus davidiana Dode)and climax(Quercus liaotungensis Mary)forests on the Loess Plateau,China.Soil temperature,soil moisture,litter biomass,fine root biomass,litter carbon,and root carbon were analyzed to obtain the drive mechanism of the Q_(10)of soil respiration in the two forests.The results showed that the Q_(10)of soil respiration exhibited seasonality,and the Q_(10)of soil respiration was higher in summer.The litter enhanced the Q_(10)of soil respiration considerably more than the root did.Soil temperature,soil moisture,fine root biomass,and litter carbon were the main factors used to predict the Q_(10)of different soil respiration components.These findings indicated that factors affecting the Q_(10)of soil respiration highly depended on soil temperature and soil moisture as well as related litter and root traits in the two forests,which can improve our understanding of soil carbon–climate feedback in global warming.The results of this study can provide reference for exploring soil respiration under temperate forest restoration. | LIU Yulin LI Jiwei HAI Xuying WU Jianzhao DONG Lingbo PAN Yingjie SHANGGUAN Zhouping WANG Kaibo DENG Lei | 2022 | Journal of Arid Land2022，14，9： | 3 |
| 3 | Flexible hybrid electronics:Enabling integration techniques and applications显示文摘The conventional electronic systems enabled by rigid electronic are prone to malfunction under deformation,greatly limiting their application prospects.As an emerging platform for applications in healthcare monitoring and human-machine interface(HMI),flexible electronics have attracted growing attention due to its remarkable advantages,such as stretchability,flexibility,conformability,and wearing comfort.However,to realize the overall electronic systems,rigid components are also required for functions such as signal acquisition and transmission.Therefore,flexible hybrid electronics(FHE),which simultaneously possesses the desirable flexibility and enables the integration of rigid components for functionality,has been emerging as a promising strategy.This paper reviews the enabling integration techniques for FHE,including technologies for two-dimensional/three-dimensional(2 D/3 D) interconnects,bonding of rigid integrated circuit(IC) chips to soft substrate,stress-isolation structures,and representative applications of FHE.In addition,future challenges and opportunities involved in FHE-based systems are also discussed. | WU Hao HUANG YongAn YIN ZhouPing | 2022 | Science China(Technological Sciences)2022，65，9： | 2 |
| 4 | Selection, identification, and application of Aflatoxin B1 aptamer显示文摘 | Xiaoyuan Ma Wenfeng Wang Xiujuan Chen Yu Xia Shijia Wu Nuo Duan Zhouping Wang | 2014 | European Food Research and Technology2014，，6： | 1 |
| 5 | The fast multi- level Fuzzy edge detection of blurry images显示文摘 | WU Jinbo YIN Zhouping XIONG Youlun | 2007 | IEEE Sig- nal Processing Letters2007，14，5： | 1 |
| 6 | The fast multilevel fuzzy edge detection of blurry images显示文摘 | Wu Jinbo Yin Zhouping Xiong Youlun | 2007 | IEEE Signal Processing Letter2007，14，5： | 1 |
| 7 | Steady-state Thermal Analysis and Temperature Control of High-speed Permanent Magnet Synchronous Motorized Spindle显示文摘 | WU Zhouping LI Beizhi YANG Jianguo | 2011 | Applied Mechanics and Materials2011，，： | 1 |
| 8 | Programmable robotized‘transfer-and-jet’printing for large,3D curved electronics on complex surfaces显示文摘Large,3D curved electronics are a trend of the microelectronic industry due to their unique ability to conformally coexist with complex surfaces while retaining the electronic functions of 2D planar integrated circuit technologies.However,these curved electronics present great challenges to the fabrication processes.Here,we propose a reconfigurable,mask-free,conformal fabrication strategy with a robot-like system,called robotized‘transfer-and-jet’printing,to assemble diverse electronic devices on complex surfaces.This novel method is a ground-breaking advance with the unique capability to integrate rigid chips,flexible electronics,and conformal circuits on complex surfaces.Critically,each process,including transfer printing,inkjet printing,and plasma treating,are mask-free,digitalized,and programmable.The robotization techniques,including measurement,surface reconstruction and localization,and path programming,break through the fundamental constraints of 2D planar microfabrication in the context of geometric shape and size.The transfer printing begins with the laser lift-off of rigid chips or flexible electronics from donor substrates,which are then transferred onto a curved surface via a dexterous robotic palm.Then the robotic electrohydrodynamic printing directly writes submicrometer structures on the curved surface.Their permutation and combination allow versatile conformal microfabrication.Finally,robotized hybrid printing is utilized to successfully fabricate a conformal heater and antenna on a spherical surface and a flexible smart sensing skin on a winged model,where the curved circuit,flexible capacitive and piezoelectric sensor arrays,and rigid digital–analog conversion chips are assembled.Robotized hybrid printing is an innovative printing technology,enabling additive,noncontact and digital microfabrication for 3D curved electronics. | YongAn Huang Hao Wu Chen Zhu Wennan Xiong Furong Chen Lin Xiao Jianpeng Liu Kaixin Wang Huayang Li Dong Ye Yongqing Duan Jiankui Chen Hua Yang Wenlong Li Kun Bai Zhouping Yin Han Ding | 2021 | International Journal of Extreme Manufacturing2021，3，4： | 1 |
| 9 | A dual-color flow cytometry protocol for the simultaneous detection of Vibrio parahaemolyticus and Salmonella typhimurium using aptamer conjugated quantum dots as labels显示文摘 | Nuo Duan Shijia Wu Ye Yu Xiaoyuan Ma Yu Xia Xiujuan Chen Yukun Huang Zhouping Wang | 2013 | Analytica Chimica Acta2013，，： | 1 |
| 10 | Magnetic nanobead-based immunoassay for the simultaneous detection of aflatoxin B 1 and ochratoxin A using upconversion nanoparticles as multicolor labels显示文摘 | Shijia Wu Nuo Duan Changqing Zhu Xiaoyuan Ma Miao Wang Zhouping Wang | 2011 | Biosensors and Bioelectronics2011，，1： | 1 |
| 11 | Bispecific aptamer-initiated 3D DNA nanomotor biosensor powered by DNAzyme and entropy-driven circuit for sensitive and specificity detection of lysozyme显示文摘Dynamic DNA nanodevices have gained tremendous attention due to their extraordinary inherent functionality and advantages,however,dynamic DNA nanodevices-based biosensors are still challenging due to their high reliance on proteases and limited amplification capabilities.Herein,exploiting bispecific aptamer as initiators for the first time,we developed a three-dimensional(3D)DNA nanomotor biosensor powered by DNAzyme and entropy-driven circuit for sensitive and specific detection of lysozyme,in which walking and rolling strategies are efficiently integrated to achieve excellent signal amplification capability.Benefiting from the high selectivity of bispecific aptamer,the 3D DNA nanomotor biosensor can respond to lysozyme with high specificity and operate at high speed to release signals.The whole process is independent of protease,avoiding the influence of adverse environment on the operation stability.Under optimal conditions,it can achieve a limit of detection as low as 0.01 pg/mL with an excellent linear range of 0.05 pg/mL–500 ng/mL for lysozyme.Furthermore,the proposed strategy revealed high accuracy in the analysis of real samples,indicating a great potential for the application of nanomotor biosensors to the detection of non-nucleic acid targets. | Shuo Qi Yuhan Sun Xiaoze Dong Imran Mahmood Khan Yan Lv Yin Zhang Nuo Duan Shijia Wu Zhouping Wang | 2023 | Nano Research2023，16，1： | 0 |
| 12 | Manipulated precipitation regulated carbon and phosphorus limitations of microbial metabolisms in a temperate grassland on the Loess Plateau,China显示文摘Manipulated precipitation patterns can profoundly influence the metabolism of soil microorganisms.However,the responses of soil organic carbon(SOC)and nutrient turnover to microbial metabolic limitation under changing precipitation conditions remain unclear in semi-arid ecosystems.This study measured the potential activities of enzymes associated with carbon(C:β-1,4-glucosidase(BG)andβ-D-cellobiosidase(CBH)),nitrogen(N:β-1,4-N-acetylglucosaminidase(NAG)and L-leucine aminopeptidase(LAP))and phosphorus(P:alkaline phosphatase(AP))acquisition,to quantify soil microbial metabolic limitations using enzymatic stoichiometry,and then identify the implications for soil microbial metabolic limitations and carbon use efficiency(CUE)under decreased precipitation by 50%(DP)and increased precipitation by 50%(IP)in a temperate grassland.The results showed that soil C and P were the major elements limiting soil microbial metabolism in temperate grasslands.There was a strong positive dependence between microbial C and P limitations under manipulated precipitation.Microbial metabolism limitation was promoted by DP treatment but reversed by IP treatment.Moreover,CUE was inhibited by DP treatment but promoted by IP treatment.Soil microbial metabolism limitation was mainly regulated by soil moisture and soil C,N,and P stoichiometry,followed by available nutrients(i.e.,NO^(-)_(3),NH^(+)_(4),and dissolved organic C)and microbial biomass(i.e.,MBC and MBN).Overall,these findings highlight the potential role of changing precipitation in regulating ecosystem C turnover by limiting microbial metabolism and CUE in temperate grassland ecosystems. | HAI Xuying LI Jiwei LIU Yulin WU Jianzhao LI Jianping SHANGGUAN Zhouping DENG Lei | 2022 | Journal of Arid Land2022，14，10： | 0 |
| 13 | Monitoring the delicate operations of surgical robots via ultra-sensitive ionic electronic skin显示文摘The arrival of surgical robots in high-end medical equipment is a landmark,and the realization of tactile sensation a major challenge in this important cutting-edge research field.Aiming to address this issue,we present ultra-sensitive ionic electronic skin in the form of flexible capacitive pressure sensors,which incorporate multistage bionic microstructures in ion gels for the purpose of monitoring the delicate operations of surgical robots.Significantly,the ionic skin exhibits an ultra-high sensitivity of 9484.3 kPa^(-1)(<15 kPa),and the sensitivity remains higher than 235 kPa^(-1)in the wide range of 15-155 kPa.The device has also achieved a detection limit as low as 0.12 Pa or,equivalently,0.31 mg,fast response within 24 ms,and high robustness(loading/unloading for 5000 cycles without fatigue).The sensor facilitates the challenging task of tele-operated robotic threading,which exceeds the human tactile perception limit when threading a needle.We have also confirmed that ionic skin can be used in robot-assisted invasive surgery,such as incision/resection of tissues and suturing of wounds,providing tactile information to surgeons to improve operation success rates.The flexible ionic skin is capable of conforming to the various shapes of robotic manipulators,thus has great promise for applications in robotic dexterous manipulation,prosthetics and human-machine interfaces. | Danyang Wei Jiajie Guo Yuqi Qiu Shaoyu Liu Jiangyan Mao Yutian Liu Zhenbing Chen Hao Wu Zhouping Yin | 2022 | National Science Review2022，9，12： | 0 |
| 14 | Soil microbial respiration is regulated by stoichiometric imbalances: Evidence from a humidity gradient case显示文摘Humidity not only affects soil microbial respiration(SMR) directly, but, indirectly by regulating the availability of soil water and nutrients. However,the patterns of direct and indirect effects of humidity on SMR over large precipitation gradients remain unclear, limiting our understanding of the effects of precipitation changes on soil C cycle. Here, we investigated the relationships among humidity, soil nutrients, and SMR by identifying stoichiometric imbalances, microbial elemental homeostasis, and microbial C use efficiency along a precipitation gradient at a continental scale. The relationship between SMR and humidity index(HI) corresponded to a Richard’s curve with an inflection point threshold value of approximately 0.7. Soil microbial respiration increased with increasing humidity in drier areas(HI < 0.7), but tended to balance above this threshold. Increasing humidity exacerbated C:P and N:P imbalances across the selected gradient. Severe N and P limitations in soil microbial communities were observed in drier areas, while soil microbes suffered from aggravated P limitation as the humidity increased in wetter areas(HI > 0.7). Soil microbial communities regulated their enzyme production to maintain a strong stoichiometric homeostasis in drier areas;enzyme production, microbial biomass, and threshold elemental ratios were non-homeostatic under P limitation in wetter areas, which further contributed to the increase in SMR. Our results identified a moisture constraint on SMR in drier areas and highlighted the importance of nutrient(especially for P) limitations induced by humidity in regulating SMR in wetter areas. Understanding the modulation of SMR via soil enzyme activity may improve the prediction of soil C budget under future global climate change. | Jiwei LI Jiangbo XIE Jianzhao WU Yongxing CUI Lingbo DONG Yulin LIU Xuying HAI Yan LI Zhouping SHANGGUAN Kaibo WANG Changhui PENG Lei DENG | 2023 | Pedosphere2023，33，6： | 0 |
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